Diff: main.cpp

Revision:

5:429e9a998bab

Parent:

4:42460f387701

Child:

6:75259c3306dd

diff -r 42460f387701 -r 429e9a998bab main.cpp
--- a/main.cpp	Thu Mar 13 17:10:42 2014 +0000
+++ b/main.cpp	Fri Mar 14 22:15:58 2014 +0000
@@ -55,8 +55,10 @@
     // POSITION ODER:
     // base_rotate, base_arm, lil_arm, int big_arm, int claw_arm, int claw_rotate, int claw_open
 
-    {STORE_POSITION, 900, 900, 900, 900, 900, 900, 900}, // storing position
-    {OIL_RIG1, 1500, 1400, 1900, 900, 900, 0, 0}, // point laser at oilrig2
+    {STORE_POSITION, 90, 0, 177, 0, 0, 90, 90}, // storing position
+    {OIL_RIG1, 90, 60, 130, 75, 60, 90, 90}, // point laser at oilrig1
+    {OIL_RIG2, 120, 60, 130, 75, 60, 90, 90}, // point laser at oilrig2
+    {OIL_RIG3, 135, 60, 130, 75, 60, 90, 90}, // point laser at oilrig2
 
 };
 
@@ -84,9 +86,19 @@
 
 //Servo initialization
     initServoDriver();
-    //  servoBegin(); // initiates servos to start position
+    servoBegin(); // initiates servos to start position
 //ServoOutputDisable = 0;
+while(1){
+    //pc.scanf("%d %d", &servoNum, &servoAngle);
+    //setServoPulse(servoNum, servoAngle);
+     pc.scanf("%d", &posNum);
+     servoPosition(posNum);
+    
+    
+    }
 
+
+/*
     while(1) {
         pc.printf("PICK A TEST TO PERFORM\n");
         pc.printf("1) Distance Reading\n");
@@ -112,7 +124,7 @@
             default:
                 pc.printf("ERROR: NOT A VALID TEST PROCEDURE");
                 break;
-        }
+        }*/
 
 
         /*if(pc.readable()) {
@@ -125,8 +137,8 @@
             //servoPosition(posNum);
 
 
-        }*/
-    }
+        }
+    }*/
 
     /**************************************************
     *     FIRST STAGE
@@ -196,10 +208,10 @@
 {
     pc.printf("Setting Initial Position\n\r");
     setServoPulseNo_delay(0, 90);
-    setServoPulseNo_delay(1, 90);
-    setServoPulseNo_delay(2, 90);
-    setServoPulseNo_delay(3, 90);
-    setServoPulseNo_delay(4, 90);
+    setServoPulseNo_delay(1, 0);
+    setServoPulseNo_delay(2, 177);
+    setServoPulseNo_delay(3, 0);
+    setServoPulseNo_delay(4, 0);
     setServoPulseNo_delay(5, 90);
     setGripper(1);
 }